I found lot of open source XML databases (TPOX, Timber , DBXML), but they are working on XPath and XQuery, I need a system which is developed for the purpose of “Keyword search on XML documents”.
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Many of the XML databases provide keyword indexing on the XML documents in them. You are not just limited to XPath expressions. You can do a keyword search across all the documents in the database.
Often times, you can express your keyword queries (and process the results of the query) in XQuery. See exist-db for an example: http://exist.sourceforge.net/kwic.html
There is support for keyword limited to particular elements or you could just do keyword across the document as a whole. See the XQuery Full-text spec for all the options: http://www.w3.org/TR/xpath-full-text-10/
BaseX is another open source XML database that supports the full-text (ie keyword searching) spec: http://www.inf.uni-konstanz.de/dbis/basex/
If you want open source fulltext search without the database though you might want to look at the older XQengine – http://xqengine.sourceforge.net/ – or, like someone else said, just use Lucene and index all the text in a document that way.